An agricultural harvester comprises an agricultural harvester vehicle and a harvesting head mounted on the vehicle, the header height control system including at least one sensor disposed to sense the height of the ground in the path of a drive wheel of the agricultural harvester vehicle, and a header height control system including an electronic circuit configured to lower the harvesting head as a wheel or wheels approach or engage a protrusion on the ground indicated by the sensor, and to raise the harvesting head as the wheels approach or engage a depression in the ground indicated by the sensor.